JPH0319688U

JPH0319688U -

Info

Publication number: JPH0319688U
Application number: JP7639889U
Authority: JP
Priority date: 1989-06-30
Filing date: 1989-06-30
Publication date: 1991-02-26

Description

[Brief explanation of drawings]

第１図はこの考案に係わる産業用ロボツトの第
１の実施例の構成を概略的に示す正面図；第２図
は第１図に示す産業用ロボツトの構成を詳細に示
す上面図；第３図、第４図及び第５図は、夫々ケ
ーブル保持装置の構成を示す上面図、縦断面図及
び斜視図；第６図はケーブルが第２の水平アーム
に干渉する前の時点でケーブル保持装置に保持さ
れた状態を示す斜視図；第７図はケーブルが第２
の水平アームに干渉している状態において、ケー
ブルの曲げ、捩れ状態を示す斜視図；第８図は待
機位置における復帰機構の状態を示す上面図；第
９図は干渉状態における復帰機構の作動状態を示
す上面図；第１０図はこの考案に係る産業用ロボ
ツトの第２の実施例において用いられる係合溝の
形成状態を示す上面図；第１１図は第１０図に示
す第２の実施例の産業用ロボツトにおけるケーブ
ルの第１の水平アームへの干渉が回避されている
状態を示す斜視図；そして、第１２図はこの考案
に係わる産業用ロボツトの第３の実施例における
第２のケーブル保持装置の配設状態を示す斜視図
である。図中、１０……多関節ロボツト、１２……基台
、１４……回転摩擦駆動装置、１６……支柱、１
８……第１の水平アーム、２０……第２の水平ア
ーム、２２……垂直アーム、２２ａ……ボールね
じ溝、２２ｂ……スプライン溝、２４……コンプ
ライアンス装置、２６……フインガ装置、２８…
…第１の駆動モータ、３０……第２の駆動モータ
、３２……第３の駆動モータ、３４……ケーブル
、３６……ケーブル保持装置、３８……取付機構
、４０……保持板、４０ａ……保持穴、４２……
固定リング、４４……可動リング、４６……係合
溝、４８……係合ピン、５０……復帰機構、５２
……固定片、５４……第１の可動片、５６……第
２の可動片、５８……第１のコイルスプリング、
６０……第２のコイルスプリングである。 FIG. 1 is a front view schematically showing the configuration of the first embodiment of the industrial robot according to this invention; FIG. 2 is a top view showing in detail the configuration of the industrial robot shown in FIG. 1; 4 and 5 are a top view, a vertical sectional view, and a perspective view showing the configuration of the cable holding device, respectively; FIG. 6 shows the cable holding device at a time before the cable interferes with the second horizontal arm. A perspective view showing the state in which the cable is held in the second position;
A perspective view showing the bending and twisting state of the cable when it is interfering with the horizontal arm of FIG. 10 is a top view showing the formation state of the engagement groove used in the second embodiment of the industrial robot according to the invention; FIG. 11 is the second embodiment shown in FIG. FIG. 12 is a perspective view showing a state in which interference with the first horizontal arm of the cable in the industrial robot is avoided; and FIG. 12 shows the second cable in the third embodiment of the industrial robot according to this invention. It is a perspective view showing the arrangement state of the holding device. In the figure, 10...multi-joint robot, 12...base, 14...rotary friction drive device, 16...pillar, 1
8...First horizontal arm, 20...Second horizontal arm, 22...Vertical arm, 22a...Ball screw groove, 22b...Spline groove, 24...Compliance device, 26...Finger device, 28 …
...First drive motor, 30...Second drive motor, 32...Third drive motor, 34...Cable, 36...Cable holding device, 38...Mounting mechanism, 40...Holding plate, 40a ...Retaining hole, 42...
Fixed ring, 44...Movable ring, 46...Engagement groove, 48...Engagement pin, 50...Return mechanism, 52
...Fixed piece, 54...First movable piece, 56...Second movable piece, 58...First coil spring,
60...Second coil spring.

Claims

[Claims for Utility Model Registration] (1) A column that is rotatably supported around a vertical axis; a first horizontal arm that is pivoted at the tip of the first horizontal arm; a second horizontal arm that is rotatably supported in a horizontal plane at the tip of the first horizontal arm; , a vertical arm supported movably along a vertical axis and rotatably about the vertical axis; a finger device attached to the lower end of the vertical arm; and a finger device for driving and controlling the finger device. a cable connected to the vertical arm, and a cable holding device attached to the upper end of the vertical arm to hold a midway portion of the cable, and the cable holding device includes a holding plate that holds the midway portion of the cable, and a The present invention is characterized by comprising a mounting mechanism for attaching the holding plate to the vertical arm so as to stop rotation of the holding plate when the arm rotates and the cable interferes with the second horizontal arm. Industrial robot. (2) The holding mechanism is characterized in that it includes a fixing ring fixed to the vertical arm, and a rotating ring rotatably fitted into the fixing ring and fixed to the holding plate. The industrial robot according to claim 1. (3) An engagement groove is formed on the outer periphery of the fixed ring, and an engagement pin that frictionally engages with the engagement groove is attached to the inner circumference of the movable ring. The industrial robot described in item 2. (4) Claim 3, wherein the engagement groove is formed on the outer peripheral surface of the fixing ring over the entire circumference.
The industrial robots described in section. (5) The industrial robot according to claim 3, wherein the engagement groove is partially formed along the circumferential direction on the outer peripheral surface of the fixing ring. (6) The industrial robot according to claim 2, further comprising a return mechanism that elastically urges the fixed ring and the movable ring to predetermined standby positions. (7) Claim 1, wherein the cable holding device is also provided at the lower end of the vertical arm.
The industrial robots described in section.